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• Closed Form Constraint Equations Used to Express Frictionless Slip of Multibody Systems Attached to Finite Elements—Application to a Contact between a Double Pendulum and a Beam

  Publikacja

  • K. Lipiński

  - Applied Sciences-Basel - Rok 2023

  This paper focuses on the numerical modeling of the dynamics of mechanical systems. Robots that can inspect high-voltage lines inspired this research. Their control systems must anticipate potential grab positions appropriately. We intend to formulate equations dedicated to the numerical description of the robot/cable contact. The investigated problem is not straightforward, since parts of the modeled systems are numerically inhomogeneous....

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